Handheld dimensioner with data-quality indication

ABSTRACT

A handheld dimensioner with a user interface configured to present a quality indicator is disclosed. The handheld dimensioner is configured to capture three-dimensional (3D) data and assess the three-dimensional-data&#39;s quality. Based on this quality, a quality indicator may be generated and presented to a user via the user interface. This process may be repeated while the user repositions the handheld dimensioner. In this way, the user may use the quality indicators generated at different positions to find an optimal position for a particular dimension measurement.

FIELD OF THE INVENTION

The present invention relates to dimensioning systems, and inparticular, to a handheld dimensioner with a user interface thatindicates the quality of the dimensioning data captured by thedimensioner.

BACKGROUND

Most transport vehicles have both volume and weight capacity limits. Aninefficient use of space results if the transport vehicle becomes fullbefore its weight capacity is reached. By dimensioning packages,shipping companies can fill space optimally and compute shipping chargesaccurately.

Hands-free measurements of an object's dimensions (e.g., volume) may becarried out using a dimensioning system (i.e., dimensioner). Thesesystems can accurately gather volume information, without causingdisruptions in workflow. Handheld dimensioners require no dedicatedsetup to measure an object's dimensions. These devices are small (e.g.,fit into a user's hand) and convenient. Since the dimensioner is mobile,it may be positioned in a wide variety of environments. Theseenvironments may vary considerably due to lighting, object location,and/or object coloring. Some environments are not suitable fordimensioning; however, this is not always obvious to a user.Dimensioning data captured in adverse environments may lead tounfavorable results.

A need, therefore, exists for a handheld dimensioner with a userinterface configured to indicate the quality of the dimensioning data soa user can respond as necessary.

SUMMARY

In one aspect, the present invention embraces a method for indicating aquality of three-dimensional data captured by a handheld dimensioner.The method includes capturing three-dimensional data of a field-of-viewwith a sensor. The three-dimensional data is then transmitted to aprocessor where its quality is assessed. Based on this assessment, aquality indicator, corresponding to the quality, is generated using theprocessor. The quality indicator is then signaled to a user via a userinterface.

In an exemplary embodiment, the method described repeats as the userrepositions the handheld dimensioner. The user may use the qualityindicators for various positions to find an optimal position for aparticular measurement.

In another exemplary embodiment, the user interface includes a displayfor signaling the quality indicator. Here the quality indicator couldinclude a visual image of the field-of-view with a graphical overlaycorresponding to the quality. Alternatively, the quality indicator couldinclude a gauge graphic displaying the quality as one of a range ofpossible qualities. Still another quality indicator could include agraphic in which the graphic's color corresponded to the quality.

In another exemplary embodiment, the user interface includes a light forsignaling the quality indicator. Here, the quality indicator couldinclude pulsating illumination where the pulsating-illumination's pulserate could correspond to the quality.

In another exemplary embodiment, the user interface includes a speakerfor signaling the quality indicator. Here the quality indicator couldinclude a sound, wherein the sound's volume and/or frequency couldcorrespond to the quality.

In yet another exemplary embodiment, the user interface includes ahaptic device for signaling the quality indicator. Here the qualityindicator could include a vibration, wherein the vibration's amplitudeand/or rate could correspond to the quality.

In another aspect, the present invention embraces a handheld dimensionerconfigured to indicate the quality of three-dimensional data used fordimensioning. The handheld dimensioner includes a dimensioning subsystemfor capturing visual images and three-dimensional data of afield-of-view. The dimensioner also includes a user-interface subsystemconfigured to present a quality indicator to a user. In addition, thedimensioner includes a control subsystem communicatively coupled to thedimensioning subsystem and the user-interface subsystem. The controlsubsystem includes at least one processor. The control subsystem alsoincludes at least one non-transitory storage medium for storingprocessor-executable instructions. These processor-executableinstructions configure the processor to receive three-dimensional datafrom the dimensioning subsystem, assess the three-dimensional-data'squality, generate the quality indicator corresponding to the quality,and transmit the quality indicator to the user-interface.

In an exemplary embodiment, the handheld dimensioner's user-interfacesubsystem includes a display for presenting the quality indicator to theuser. Here, the quality indicator could include (i) a visual image ofthe field-of-view with a graphical overlay that corresponds to thequality, (ii) a graphical scale displaying the quality as one of a rangeof qualities on the graphical scale, and/or (iii) at least one promptfor provoking an action by a user.

In another exemplary embodiment, the handheld-dimensioner's userinterface includes a light for presenting illumination corresponding tothe quality indicator.

In another exemplary embodiment, the handheld-dimensioner's userinterface includes a speaker, for presenting sounds corresponding to thequality indicator.

In yet another exemplary embodiment the handheld-dimensioner's userinterface includes a haptic device for presenting vibrationscorresponding to the quality indicator.

The foregoing illustrative summary, as well as other exemplaryobjectives and/or advantages of the invention, and the manner in whichthe same are accomplished, are further explained within the followingdetailed description and its accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 depicts images with quality indicators demonstrating the use ofquality indicators.

FIG. 2 graphically depicts a flowchart illustrating an exemplary methodfor indicating the quality of three-dimensional data captured by ahandheld dimensioner.

FIG. 3 schematically depicts a block diagram of an exemplary handhelddimensioner.

DETAILED DESCRIPTION

The present invention embraces a handheld dimensioning system (i.e.,dimensioner) that provides indicators regarding the quality of thethree-dimensional data used for dimensioning. This qualitative feedbackhelps a user operate the handheld dimensioner reliably.

Handheld dimensioning is a challenging problem. The measurementenvironment is uncontrolled. As a result, the dimensioner must eitheraccommodate a huge range of measurement conditions, or more practically,provide feedback to help a user understand the limits imposed by themeasurement conditions. The measurement conditions include diverselighting conditions, diverse measurement geometries (e.g., spatialrelationships and orientations), and/or diverse object colors.

Handheld dimensioner users typically have a low tolerance for excessivemeasurement times and/or alignment complexities. A handheld dimensionermust employ a flexible sensing-technology to achieve reliablemeasurements in various conditions.

A variety of sensing technologies have been employed for dimensioning(e.g., time-of-flight sensing or stereoscopic imaging) to capture rangedata (i.e., three-dimensional data). While any may be used, one sensingtechnology well suited for handheld dimensioners uses structured light.Structured-light dimensioners sense depth by projecting a known lightpattern (e.g., dots, grids, bars, stripes, checkerboard, etc.) onto ascene (i.e., field-of-view). A pattern image is captured by an imagesensor laterally offset from the projector. Distortions in the reflectedlight pattern caused by objects in the field-of-view are analyzed toderive depth information (i.e., three-dimensional data).

High quality three-dimensional data is necessary for accuratedimensioning. A variety of measurement conditions causethree-dimensional data quality to suffer. One such condition islighting. Suitable lighting is necessary to produce light-pattern imagessuitable for structured-light dimensioning. Too little light may lead tonoisy images, while excessive light may lead to saturated images. Ineither case, the light pattern cannot be resolved suitably fordimensioning calculations. The lighting must also be uniform. Imageswith dark areas and saturated areas may have poor quality, since thedynamic range of the image sensor is often too small to capture bothideally.

Certain measurement geometries (i.e., the relative positions of thedimensioner and the measured object) can also affect the quality of thethree-dimensional data. For example, when using a structured lightdimensioner, an object's surface must reflect some portion of theprojected light pattern in order to convey depth information properly.Typically, three sides of an object should be visible for a volume to bemeasured. Sometimes, however, one or more surfaces are not visible. Inthese cases, the dimensioner could be repositioned to improve thequality of the three-dimensional data.

An indication of the three-dimensional data quality may allow for thepositioning of the dimensioner (or measured object) and/or theadjustment of lighting to maximize the quality of the three-dimensionaldata. In this way, a quality indicator may enhance the usability of ahandheld dimensioner.

Screen captures from an exemplary handheld dimensioner's user interfaceare shown in FIG. 1. The results of two measurements are shown. Themeasurements are from a first position 1 and a second position 2.Presented for each measurement are visible images and qualityindicators. The visible images show the dimensioner's field-of-view. Inthe field-of-view is an object for measurement. The quality indicatorscorrespond to the quality of the three-dimensional data captured foreach measurement.

The first-position screen-capture 1 shows a visible image of the objectas measured from a first position. One first-position quality-indicatorshown is a graphical scale 3. The graphical scale 3 displays thethree-dimensional quality (i.e., quality) as one of a range of possiblequalities. Here, the graphical-scale's low-scale reading indicates thatpoor three-dimensional data quality was captured for this measurement.

The low quality of the first-position three-dimensional data is furtherindicated by a graphical overlay of a wire-frame rendering 4 of theobject. The wire-frame rendering represents the dimensioner's sense ofthe object's edges. Here, the wire-frame rendering does not match theedges of the object; implying that any dimensioning resulting from thismeasurement could be inaccurate.

There are several possible reasons for the low three-dimensional-dataquality at the first position 1. First, the lighting is not uniform andtoo bright in some areas. The object is positioned in direct sunlight,and as a result, the top surface 5 is fully illuminated while the frontsurface 6 and the side surface 7 are in shadow. Second, some objectsurfaces are not easily seen by the dimensioner. When imaged broadside,a surface is in full view, however as the object is rotated away fromthis orientation the surface seen by the dimensioner diminishes. Here,the object is positioned so that the front surface 6 and top surface 5are visible but the side surface 7 is less visible.

The screen capture from the first-position measurement 1 also displaysan up-arrow 8 and a left-arrow 9. These quality indicators are promptsintended to provoke a user to reposition the dimensioner. Byrepositioning, the likelihood of capturing high-qualitythree-dimensional data in a subsequent measurement is improved. In thisexample, the arrows 8,9 indicate that the user should move thedimensioner up and to the left before taking another dimensionmeasurement.

The visible image of the measurement from the second position 2 is alsoshown in FIG. 1. Here, the dimensioner has been repositioned and asecond measurement has been taken. The second-position quality-indicator10 indicates high three-dimensional-data quality. The high quality ofthe data can be attributed to improved illumination conditions andimproved visibility of the top surface 5, front surface 6 and sidesurface 7. The second-position's wireframe-rendering 11 matches theobject's edges. The agreement between the wireframe rendering and theobject implies an accurate dimension measurement.

FIG. 2 graphically depicts a flowchart illustrating an exemplary methodfor indicating the quality of three-dimensional data captured by ahandheld dimensioner. A handheld dimensioner uses a sensing technology(e.g., structured light, time-of-flight, etc.) to capturethree-dimensional data 15 of an object (or objects) in a field-of-view.This three-dimensional data captured may include a depth map.

A depth map is typically a gray scale image of the field-of-view whereinthe value of a pixel corresponds to the distance between the dimensionerand the point in the field-of-view represented by the pixel. In someregions of the field of view, however, the sensor may not obtain rangeinformation. The quality of the three-dimensional data corresponds tothe gaps in the sensed range information. For example, if the number ofpixels with no range information (i.e., a null-pixel) is large thedepth-map's quality is low. A processor in the handheld dimensionerreceives the captured three-dimensional data and assesses its quality16.

From this quality, the processor may generate a quality indicator 17.For example, the quality indicator may indicate the three-dimensionaldata completeness. Alternatively, the quality indicator may includeinformation regarding the dimensioners projected results based on thethree-dimensional data. Here, the quality indicator could be comparedwith other sensor outputs, with stored information, or a user'sknowledge/expectations to derive a measurement confidence. Still anotherquality indicator could include prompts to provoke an action. Forexample, the user might be prompted to move the dimensioner and retake ameasurement. Alternatively, the user might be prompted to change asetting and retake a measurement.

After the quality indicator is generated, the processor may transmit thequality indicator information to a user interface where it may besignaled (i.e., presented) to a user 18. The quality indicators may beembodied in different ways. For example, if the user interface includesa display, then the quality indicator may include a visual image of thefield-of-view with a graphical overlay corresponding to the quality.Alternatively, the quality indicator may include a graphic fordisplaying the quality as one of a range of possible qualities. In somecases, the graphic's color may correspond to the quality and in othersthe shape, size, and/or orientation of the graphic may change toindicate a change in quality.

In another possible embodiment, the user interface includes a light (orlights) for signaling the quality indicator. The lights used aretypically light emitting diodes (i.e., LEDs) but could use electricalfilaments, plasma, or gas as a means for illumination. The illuminationstate of the light (or lights) may correspond to the quality. Forexample, the light brightness could indicate quality. The blinking rateof a light could also indicate quality. For example, if the quality ispoor, then the light flashes slowly and as the measurement gets better,the light flashes more rapidly. In some embodiments, the relative stateof multiple lights (e.g., a bar-graph light-array) could indicate aquality. Another embodiment could use the color of the illumination toindicate quality.

In another possible embodiment, the user interface includes a speakerfor signaling the quality indicator. In this embodiment, the qualityindicator may be a sound. The sound's volume, frequency, or modulationcould indicate quality.

In another possible embodiment, the user interface could include ahaptic device to indicate quality. The haptic device may apply forces,vibrations, and/or motions to a user holding a device to convey thequality. In an exemplary embodiment, a haptic device may include avibration, and the vibration's amplitude and/or rate (vibrationfrequency) indicate quality.

Capturing three-dimensional data, assessing its quality to generate aquality indicator and then signaling the quality indicator via a userinterface may be repeated 19 to help a user determine an optimizedmeasurement condition. For example, a handheld dimensioner may processthree-dimensional data continuously to provide quality feedback to auser in real time. A user may monitor the quality feedback (e.g., agauge graphic) as the dimensioner is moved into a variety of positionsto find a position that gives the highest data quality. Once thisposition is found then the dimensioner may be positioned in it andtriggered to acquire a measurement.

FIG. 3 schematically depicts a block diagram of an exemplary handhelddimensioner. The handheld dimensioner 21 positioned in front of anobject 20 may optically measure the object's dimensions (e.g., volume).The dimensioner 21 utilizes a variety of subsystems to measure theobject.

A dimensioning subsystem 30 uses at least one image sensor to capturerange data of an object or objects within a field-of-view 22. Toaccomplish this, the dimensioning subsystem 30 uses an imaging lens 31to focus a real image of the field-of-view 22 onto an image sensor 32 toconvert the optical image into an electronic signal. The image sensor 32may be a charge-coupled device (i.e., CCD) or a sensor usingcomplementary-metal-oxide-semiconductor (i.e., CMOS) technology. Theimage sensor 32 typically includes a plurality of pixels that sample thereal image and convert the real-image intensity into an electronicsignal. A digital signal processor (i.e., DSP) 33 is typically includedto facilitate the formation of the digital image.

The creation of three-dimensional data (i.e., depth information) isfacilitated by a second element in the dimensioning subsystem thateither transmits an optical signal (i.e., projector) or images a scene(i.e., sensor). The lens 34 for the projector (or sensor) 55 istypically configured into a stereo arrangement with the imaging lens 31to allow for the collection of depth information (e.g., using theprinciple of parallax). The projector (or sensor) 35 is typicallycommunicatively coupled to the DSP 33 which may facilitate its controland communication.

A control subsystem 40 is communicatively coupled to the at least oneimage sensor (or the image sensor 32 and the projector 35) via the DSP33. The control subsystem 40 includes one or more processors 41 (e.g.,one or more controller, digital signal processor (DSP), applicationspecific integrated circuit (ASIC), programmable gate array (PGA),and/or programmable logic controller (PLC)) to configure the imagingsubsystem for the dimensioning data collection and to perform theprocessing to generate dimensioning measurements and feedback. Theprocessor 41 may be configured by processor-executable instructions(e.g., a software program) stored in at least one non-transitory storagemedium (i.e., memory) 42 (e.g., read-only memory (ROM), flash memory,and/or a hard-drive). The processor-executable instructions, whenexecuted by the processor 41 configure the processor to: (i) receivethree-dimensional data from the dimensioning subsystem, (ii) assess thethree-dimensional-data's quality, (iii) generate a quality indicatorcorresponding to the quality, (iv) transmit the quality indicator to auser interface, and (v) generate a quality indicator gauge perceivableto the user.

The dimensioning system 21 also includes a user-interface subsystem 50to display dimension measurements (e.g., linear dimension or volume) andfeedback. In some embodiments, the user-interface includes a display, alight, a speaker, and/or a haptic device to convey the qualityinformation.

The dimensioner 21 may also include a communication subsystem 60 fortransmitting and receiving information to/from a separate computingdevice or storage device. This communication subsystem 60 may be wiredor wireless and may enable communication via a variety of protocols(e.g., IEEE 802.11, including WI-FI®, BLUETOOTH®, CDMA, TDMA, or GSM).

The subsystems in the dimensioner 21 are electrically connected via acouplers (e.g., wires or fibers) to form an interconnection subsystem70. The interconnection system 70 may include power buses or lines, databuses, instruction buses, address buses, etc., which allow operation ofthe subsystems and interaction there between.

To supplement the present disclosure, this application incorporatesentirely by reference the following commonly assigned patents, patentapplication publications, and patent applications:

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In the specification and/or figures, typical embodiments of theinvention have been disclosed. The present invention is not limited tosuch exemplary embodiments. The use of the term “and/or” includes anyand all combinations of one or more of the associated listed items. Thefigures are schematic representations and so are not necessarily drawnto scale. Unless otherwise noted, specific terms have been used in ageneric and descriptive sense and not for purposes of limitation.

1. A method for indicating a quality of three-dimensional (3D) datacaptured by a handheld dimensioner, the method comprising: capturing,using a sensor, three-dimensional (3D) data from of a field-of-view;transmitting the three-dimensional data to a processor; assessing, usingthe processor, the quality of the three-dimensional data; generating,using the processor, a quality indicator corresponding to the quality;and signaling the quality indicator on a user interface.
 2. The methodaccording to claim 1, wherein the user interface comprises a display forsignaling the quality indicator.
 3. The method according to claim 2,wherein the quality indicator comprises a visual image of thefield-of-view with a graphical overlay, the graphical overlaycorresponding to the quality.
 4. The method according to claim 2,wherein the quality indicator comprises a gauge graphic displaying thequality as one of a range of possible qualities.
 5. The method accordingto claim 2, wherein the quality indicator comprises a graphic, thegraphic's color corresponding to the quality.
 6. The method according toclaim 1, wherein the user interface comprises a light for signaling thequality indicator.
 7. The method according to claim 6, wherein thequality indicator comprises a pulsating illumination of the light thepulsating-illumination's pulse rate corresponding to the quality.
 8. Themethod according to claim 1, wherein the user interface comprises aspeaker for signaling the quality indicator.
 9. The method according toclaim 8, wherein the quality indicator comprises a sound, the sound'svolume and/or frequency corresponding to the quality.
 10. The methodaccording to claim 1, wherein the user interface comprises a hapticdevice for signaling the quality indicator.
 11. The method according toclaim 10, wherein the quality indicator comprises a vibration, thevibration's amplitude and/or rate corresponding to the quality.
 12. Themethod according to claim 1, wherein the capturing, transmitting,assessing, generating, and signaling are repeated.
 13. The methodaccording to claim 1, wherein the quality of the three-dimensional datacomprises accuracy.
 14. The method according to claim 1, wherein thequality of the three-dimensional data comprises resolution.
 15. Ahandheld dimensioner configured to indicate the quality ofthree-dimensional (3D) data used for dimensioning, the handhelddimensioner comprising: a dimensioning subsystem for capturing visualimages and three-dimensional data of a field-of-view; a user-interfacesubsystem configured to present a quality indicator to a user; a controlsubsystem communicatively coupled to the dimensioning subsystem and theuser-interface subsystem, the control subsystem comprising at least oneprocessor and at least one non-transitory storage medium for storingprocessor-executable instructions, wherein the processor-executableinstructions configure the processor to: (i) receive three-dimensionaldata from the dimensioning subsystem, (ii) assess thethree-dimensional-data's quality, (iii) generate the quality indicatorcorresponding to the quality, and (iv) transmit the quality indicator tothe user-interface.
 16. The handheld dimensioner according to claim 15,wherein the user-interface subsystem comprises a display.
 17. Thehandheld dimensioner according to claim 15, wherein the qualityindicator comprises a visual image of the field-of-view with a graphicaloverlay, the graphical overlay corresponding to the quality.
 18. Thehandheld dimensioner according to claim 15, wherein the qualityindicator comprises a graphical scale displaying the quality as one of arange of qualities on the graphical scale.
 19. The handheld dimensioneraccording to claim 15, wherein the quality indicator comprises at leastone prompt for provoking an action by a user.
 20. The handhelddimensioner according to claim 15, wherein the user interface comprisesa light for presenting illumination corresponding to the qualityindicator.
 21. The handheld dimensioner according to claim 15, whereinthe user interface comprises a speaker for presenting soundscorresponding to the quality indicator.
 22. The handheld dimensioneraccording to claim 15, wherein the user interface comprises a hapticdevice for presenting vibrations corresponding to the quality indicator.23. A handheld dimensioner configured to indicate a quality ofthree-dimensional (3D) data used for dimensioning, the handhelddimensioner comprising: a dimensioning subsystem for capturing visualimages and three-dimensional data of a field-of-view; a user-interfacesubsystem comprising a means for presenting graphical information; acontrol subsystem communicatively coupled to the dimensioning subsystemand the user-interface subsystem, the control subsystem comprising atleast one processor and at least one non-transitory storage medium forstoring processor-executable instructions, wherein theprocessor-executable instructions configure the processor to: (i)receive 3D data from the dimensioning subsystem, (ii) assess the qualityof the 3D data, (iii) transmit the quality of the 3D data to theuser-interface (iv) indicate the quality of the 3D data via the meansfor presenting graphical information.
 24. The handheld dimensioneraccording to claim 23, wherein the graphical information comprises agauge indicating the quality of the 3D data.
 25. The handhelddimensioner according to claim 15, wherein the graphical informationcomprises positioning guidance.